model.sdf
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<?xml version="1.0"?>
<sdf version="1.6">
<model name="realsense_camera">
<plugin name="realsense_plugin" filename="libRealSensePlugin.so"/>
<pose>0 0 0.015 0 0 0</pose>
<link name="link">
<inertial>
<mass>0.0615752</mass>
<inertia>
<ixx>9.108e-05</ixx>
<ixy>0</ixy>
<ixz>0</ixz>
<iyy>2.51e-06</iyy>
<iyz>0</iyz>
<izz>8.931e-05</izz>
</inertia>
<pose>0 0 0 0 -0 0</pose>
</inertial>
<self_collide>0</self_collide>
<kinematic>0</kinematic>
<gravity>1</gravity>
<visual name="visual">
<geometry>
<mesh>
<uri>model://realsense_camera/meshes/realsense.dae</uri>
</mesh>
</geometry>
</visual>
<collision name='collision'>
<laser_retro>0</laser_retro>
<max_contacts>10</max_contacts>
<pose>0 0 0 0 -0 0</pose>
<geometry>
<box>
<size>0.0078 0.130 0.0192</size>
</box>
</geometry>
<surface>
<friction>
<ode>
<mu>1</mu>
<mu2>1</mu2>
<fdir1>0 0 0</fdir1>
<slip1>0</slip1>
<slip2>0</slip2>
</ode>
</friction>
<bounce>
<restitution_coefficient>0</restitution_coefficient>
<threshold>1e+06</threshold>
</bounce>
<contact>
<collide_without_contact>0</collide_without_contact>
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
<collide_bitmask>1</collide_bitmask>
<ode>
<soft_cfm>0</soft_cfm>
<soft_erp>0.2</soft_erp>
<kp>1e+13</kp>
<kd>1</kd>
<max_vel>0.01</max_vel>
<min_depth>0</min_depth>
</ode>
<bullet>
<split_impulse>1</split_impulse>
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
<soft_cfm>0</soft_cfm>
<soft_erp>0.2</soft_erp>
<kp>1e+13</kp>
<kd>1</kd>
</bullet>
</contact>
</surface>
</collision>
<sensor name="color" type="camera">
<pose>0 -0.046 0.004 0 0 0</pose>
<camera name="__default__">
<horizontal_fov>1.047</horizontal_fov>
<image>
<width>640</width>
<height>480</height>
<format>RGB_INT8</format>
</image>
<clip>
<near>0.1</near>
<far>100</far>
</clip>
<noise>
<type>gaussian</type>
<mean>0.0</mean>
<stddev>0.007</stddev>
</noise>
</camera>
<always_on>1</always_on>
<update_rate>60</update_rate>
<visualize>1</visualize>
</sensor>
<sensor name="ired1" type="camera">
<pose>0 -0.06 0.004 0 0 0</pose>
<camera name="__default__">
<horizontal_fov>1.047</horizontal_fov>
<image>
<width>640</width>
<height>480</height>
<format>L_INT8</format>
</image>
<clip>
<near>0.1</near>
<far>100</far>
</clip>
<noise>
<type>gaussian</type>
<mean>0.0</mean>
<stddev>0.007</stddev>
</noise>
</camera>
<always_on>1</always_on>
<update_rate>60</update_rate>
<visualize>0</visualize>
</sensor>
<sensor name="ired2" type="camera">
<pose>0 0.01 0.004 0 0 0</pose>
<camera name="__default__">
<horizontal_fov>1.047</horizontal_fov>
<image>
<width>640</width>
<height>480</height>
<format>L_INT8</format>
</image>
<clip>
<near>0.1</near>
<far>100</far>
</clip>
<noise>
<type>gaussian</type>
<mean>0.0</mean>
<stddev>0.007</stddev>
</noise>
</camera>
<always_on>1</always_on>
<update_rate>60</update_rate>
<visualize>0</visualize>
</sensor>
<sensor name="depth" type="depth">
<pose>0 -0.03 0.004 0 0 0</pose>
<camera name="__default__">
<horizontal_fov>1.047</horizontal_fov>
<image>
<width>640</width>
<height>480</height>
</image>
<clip>
<near>0.1</near>
<far>100</far>
</clip>
<noise>
<type>gaussian</type>
<mean>0.0</mean>
<stddev>0.007</stddev>
</noise>
</camera>
<always_on>1</always_on>
<update_rate>60</update_rate>
<visualize>0</visualize>
</sensor>
</link>
</model>
</sdf>